//
// Created by ZhaoXiaoFei on 2022/10/31.
// Last changed by: ZhaoXiaoFei.
// Last update: 2022/10/31.
//

#include <ros/ros.h>
#include <boost/shared_ptr.hpp>
#include "msckf_vio/image_processor.h"
#include "msckf_vio/msckf_vio.h"

int main(int argc, char* argv[]){
    ros::init(argc, argv, "msckf_vio");
    ros::NodeHandle nh;

    msckf_vio::ImageProcessorPtr imageProcessorPtr;
    imageProcessorPtr = boost::make_shared<msckf_vio::ImageProcessor>(nh);
    imageProcessorPtr->initialize();

    ros::spin();

    return 0;
}
